3dd48ab31d016ffcbf3314df2b3cb9ce-Reviews.html

First provide a summary of the paper, and then address the following criteria: Quality, clarity, originality and significance. The paper considers global and local path planning for multiple agents in 2-D with a centralized message-passing algorithm derived from the three-weight version of ADMM, an established algorithm. The contributions are clearly stated in the introduction: The authors decompose global planning optimization into several sub-problems they dub minimizers, which describe various planning objectives that comprise the larger overall problem to be solved. Minimizers are derived for avoiding inter-agent collisions, avoiding collisions with static obstacles, and for maximizing/minimizing kinetic energy or velocity. They also apply their approach to local planning by reformulating joint optimization.